version: 66.02
glider: 23
mission: 2
dive: 326
start: 10 2 107 19 43 57
data:
$ID,23
$MISSION,2
$DIVE,326
$D_SURF,5
$D_FLARE,2
$D_TGT,95
$D_ABORT,1050
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,35
$T_MISSION,120
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51702
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0030006149
$HD_B,0.0123087
$HD_C,3.5261501e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.650002
$TGT_DEFAULT_LON,-122.8667
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-28330.93
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,370
$PITCH_MAX,3518
$C_PITCH,2610
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,208
$ROLL_MAX,3567
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,1890
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,580
$VBD_MAX,3994
$C_VBD,3484
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-24.5345
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,15
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,50
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,1
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,3
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,5
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,16
$RAFOS_DEVICE,-1
$XPDR_DEVICE,19
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043036696
$SEABIRD_T_H,0.00062677584
$SEABIRD_T_I,2.2664151e-05
$SEABIRD_T_J,2.2667414e-06
$SEABIRD_C_G,-10.310682
$SEABIRD_C_H,1.1615626
$SEABIRD_C_I,-0.0017275931
$SEABIRD_C_J,0.00021877716
$GPS1,193807,4739.569,-12252.146,27,1.2,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-70.4
$GPS2,194233,4739.614,-12252.048,14,1.2,14,18.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,H2
$TGT_LATLONG,4739.467,-12252.401
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.215,-0.144
$KALMAN_X,20165.4,289.8,-32.7,-19305.6,168.7
$KALMAN_Y,12605.4,217.4,-24.3,-13113.8,127.7
$MHEAD_RNG_PITCHd_Wd,217.9,519,-14.5,-9.048
$D_GRID,124
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.03,-117.3,0.0,0.0,0,97,0.00,0.00,-72.62,0.000,2,0.000,0.000,365,2103,3496
$GC,101,-1.03,-117.3,2.1,-4.5,12,138,11.23,2.50,-16.88,0.000,4,0.146,0.062,2380,3508,3963
$GC,151,-1.03,-117.3,4.5,-5.5,20,157,0.00,2.42,0.00,0.000,6,0.000,0.032,2380,2080,3963
$GC,223,-1.03,-117.3,10.1,-7.6,31,229,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2081,3962
$GC,296,-1.03,-117.3,14.9,-7.1,42,302,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2081,3964
$GC,375,-1.03,-117.3,20.9,-7.3,53,379,0.00,2.50,0.00,0.000,4,0.000,0.050,2380,3510,3963
$GC,400,-1.03,-117.3,22.9,-7.5,54,407,0.00,2.42,0.00,0.000,6,0.000,0.035,2380,2100,3964
$GC,596,-1.03,-117.3,35.7,-6.6,70,601,0.00,2.92,0.00,0.000,4,0.000,0.052,2380,691,3964
$GC,642,-1.03,-117.3,39.0,-7.2,73,647,0.00,2.85,0.00,0.000,6,0.000,0.032,2380,2107,3964
$GC,838,-1.03,-117.3,51.7,-6.2,88,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2105,3964
$GC,1030,-1.03,-117.3,64.1,-6.5,103,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2106,3964
$GC,1218,-1.03,-117.3,76.1,-6.4,118,1223,0.00,2.95,0.00,0.000,4,0.000,0.051,2380,691,3964
$GC,1270,-1.03,-117.3,79.7,-6.3,121,1277,0.00,2.85,0.00,0.000,6,0.000,0.031,2380,2113,3964
$GC,1466,-1.03,-117.3,91.4,-6.6,137,1470,0.00,2.42,0.00,0.000,4,0.000,0.051,2380,3512,3964
$STATE,1515,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1515,begin apogee
$GC,1523,-0.31,0.0,95.1,6.8,140,1618,0.75,0.00,90.82,0.749,6,0.088,0.000,2535,1892,3484
$STATE,1618,end apogee,CONTROL_FINISHED_OK
$STATE,1619,begin climb
$GC,1621,1.03,117.3,96.8,0.0,148,1718,1.40,2.95,88.68,0.728,4,0.067,0.058,2832,471,3005
$GC,1736,1.03,117.3,89.1,9.8,157,1744,0.00,2.78,0.00,0.000,6,0.000,0.028,2832,1898,3005
$GC,1933,1.03,117.3,70.9,9.4,173,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1900,3005
$GC,2125,1.03,117.3,53.2,9.4,188,2130,0.00,2.92,0.00,0.000,4,0.000,0.058,2832,469,3005
$GC,2165,1.03,117.3,48.9,10.2,190,2171,0.00,2.75,0.00,0.000,6,0.000,0.028,2832,1901,3005
$GC,2360,1.03,117.3,30.7,9.1,206,2361,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1903,3005
$GC,2552,1.06,141.3,14.3,8.3,226,2577,0.00,2.97,17.38,0.699,4,0.000,0.058,2832,471,2907
$STATE,2654,end climb,SURFACE_DEPTH_REACHED
$STATE,2654,begin surface coast
$FINISH,2.3,1.022203
$STATE,2675,end surface coast,CONTROL_FINISHED_OK
$STATE,2675,begin surface
$SM_CCo,2700,104.18,0.657,1,0,2058,350.04
$SM_GC,0.80,0.00,0.00,104.18,0.000,0.000,0.657,365,2103,2058,-10.33,0.11,350.04
$IRIDIUM_FIX,4719.74,-12251.79,021007,222237
$TT8_MAMPS,0.026078
$HUMID,2138
$TCM_TEMP,19.80
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,90.6,31.5
$24V_AH,24.0,26.309
$10V_AH,10.2,9.566
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,24.750,44.350,196.875,104.175,0.000,38.532,31.797,100.745,2.000,0.000,0.000,15.650,478.479,1493.960,420.479,423.934,305.827,33.336,688.031,0.000,413.119,0.000,12.014
$DEVICE_MAMPS,146.497,62.127,748.592,656.552,0.000,103.000,160.000,223.000,420.000,0.000,0.000,93.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,ARS,nil
$SENSOR_SECS,164.077,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,23.483,0.000
$DATA_FILE_SIZE,6434,245
$CFSIZE,260034560,249032704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,021007,203139,4739.530,-12252.208,8,1.2,8,18.3